An LQ controller design method is proposed for effective anti-sway control of boom type crane in this paper. It is important for high productivity that the sway of a load is controlled as fast as possible when the trolley arrives to the destination with maximum velocity. To prove the effectiveness of the proposed LQ controller. simulations and experiments using the boom type crane as experimental device is carried out. Tracking performance for a step type reference and robustness for the change of working environment such as the change of load weight and parameters produced by a wire rope and disturbance by the wind arc proved by the experiment. It will be examined that boom type crane can be applied to industrial fields through experiment in this paper.